> The way to handle things like overflows in real-world robots is to use > real-wold units in the data. The lower level controls on each motor does > the conversion. So the motor command is in radians per second and is in > floating-point. The encoder reports its angle in radians, in > floating-point.
No matter what units are used if the number overflow software must keep track of it. To use real world units you must have numbers with decimal point, in CANopen values are sent as integers, there are extra entries, scaling factors for units used for the values received/sent. It is also possible to send values as floating point and this datatype is named real in CANopen but this is less common. To use same unit as encoder happen to have have advantage no resolution is lost due to rounding. _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
